CN114098993A - Method for acquiring pitching information of master hand - Google Patents
Method for acquiring pitching information of master hand Download PDFInfo
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- CN114098993A CN114098993A CN202111406769.XA CN202111406769A CN114098993A CN 114098993 A CN114098993 A CN 114098993A CN 202111406769 A CN202111406769 A CN 202111406769A CN 114098993 A CN114098993 A CN 114098993A
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- hand
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- ring handle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
Abstract
The invention discloses a method for acquiring pitching information of a master hand, which comprises the following steps: 1) acquiring a three-dimensional model of a master hand, and acquiring three-dimensional data of a ring handle starting point; 2) reading data of each axis of the master hand, and controlling the rotation of the three-dimensional model by using the data; 3) after synchronous rotation is finished, reading three-dimensional data of the ring handle terminal point; 4) and calculating the pitch angle beta of the ring handle through three-dimensional data of the starting point and the movement end point of the ring handle, namely the pitch information of the main hand. According to the invention, the pitching information of the main hand is acquired and finally displayed in the stereoscopic viewfinder, so that an operator can know in what state the current operating hand holds the main hand tool without action by directly watching the stereoscopic viewfinder, and the operation efficiency, the operation accuracy and the operation safety are improved.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a method for acquiring pitching information of a master hand.
Background
Minimally invasive surgery is a new surgical approach compared with traditional surgery, and is achieved by some new technical means with minimum trauma cost, and the treatment effect can reach or even exceed the traditional surgery. Minimally invasive surgery usually uses medical instruments and equipment such as thoracoscopes, laparoscopes and arthroscopes to perform surgery, and has the advantages of small wound, small incision, quick recovery, less bleeding during surgery and less postoperative infection of patients after surgery. Minimally invasive surgical robotic systems typically use a master-slave mode of control: when an operator operates the master hand, the motion of the hand can drive the master hand to move along with the master hand, the sensor at the joint of the master hand can measure motion information, the motion of the master hand is mapped to the slave hand through a master-slave control algorithm, and each joint of the slave hand moves passively to drive the surgical instrument to realize corresponding motion. The distal end of the surgical robot is used to load surgical instruments, the position and attitude of which determine the accuracy of the surgical procedure. The mode greatly lightens the physical labor of a doctor in the operation process and simultaneously achieves the aim of accurate operation. The incision of the minimally invasive surgery is a plurality of small holes, and the small holes are 0.5-1 cm in size. Through these natural orifices or incisions, an operator (e.g., a physician) may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic, or biopsy instruments, as well as endoscopes) to reach a target tissue location. The distal ends of these insertion instruments are mounted on instrument control arms. When an operator operates the console, each joint of the instrument control arm moves passively to drive the surgical instrument to move correspondingly.
However, during the operation, the image of the endoscope is transmitted to the stereoscopic viewfinder of the console, and the operator cannot see the outside when observing the stereoscopic viewfinder. Therefore, it is necessary to inform the operator what state the current operating hand is holding the master hand tool, and in the prior art, the operator usually needs to move the head or body position to make the eyes see the master hand, so as to observe the master hand pitch information, but this is inefficient, and the operation accuracy and safety are relatively low.
Those skilled in the art have therefore endeavored to develop an efficient and accurate acquisition method of master hand pitch information.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a method for acquiring master hand pitch information with high efficiency and accuracy.
In order to achieve the above object, the present invention provides a method for acquiring the pitching information of the master hand, comprising the following steps:
1) acquiring a three-dimensional model of a master hand, and acquiring three-dimensional data of a ring handle starting point;
2) reading data of each axis of the master hand, and controlling the rotation of the three-dimensional model by using the data;
3) after synchronous rotation is finished, reading three-dimensional data of the ring handle terminal point;
4) and calculating the pitch angle beta of the ring handle through three-dimensional data of the starting point and the end point of the ring handle, namely the pitch information of the main hand.
Preferably, the method further comprises the step 5): and acquiring left and right hand distribution information of the surgical instrument, generating an indication icon with the left and right information, and displaying the indication icon and the instrument icon in a combined manner.
Preferably, the method further comprises the step 6): and displaying the indication icon at the corresponding position of the instrument icon according to the pitch angle beta, and finally displaying the indication icon in the stereoscopic viewfinder.
Preferably, in the step 4), the first direction vector is solved through the change of three-dimensional coordinate points at two ends of the ring handle at the starting point and the end point of the ring handle, and then the included angle between the first direction vector and the horizontal plane is solved, so as to obtain the pitch angle β of the ring handle.
Preferably, the indication icon display position is acquired by:
61) determining a display radian gamma, beta PI/180.0, wherein PI PI is PI;
62) finding a second direction vector V1[ x, y ], where V1x ═ cos γ and V1y ═ sin γ;
63) determining a set distance value of a deviation position V2(x, y), wherein V2(x, y) is V1[ x, y ] l;
64) indicating an icon display position P (x, y) ═ P1(x, y) + V2(x, y), where P1(x, y) where P1(x, y) are screen coordinates of the center of the numeric numbered icon;
p (x, y) is a screen coordinate point indicating an icon.
Preferably, in the step 4), the first direction vector is solved through the change of three-dimensional coordinate points at two ends of the starting point and the end point finger ring handles, and then the included angle between the first direction vector and the horizontal plane is solved, so as to obtain the pitch angle of the finger ring handles.
Preferably, in step 2), reading the data of each axis of the master hand refers to reading rotation data of each axis, including a rotation direction and a rotation angle.
The invention has the beneficial effects that: according to the invention, the pitching information of the main hand is acquired and finally displayed in the stereoscopic viewfinder, so that an operator can know in what state the current operating hand holds the main hand tool without action by directly watching the stereoscopic viewfinder, and the operation efficiency, the operation accuracy and the operation safety are improved.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention
FIG. 2 is a diagram illustrating a first state of an indicator icon and an instrument cursor, in accordance with an embodiment of the present invention.
FIG. 3 is a diagram illustrating a second state of an indicator icon and instrument cursor in accordance with an embodiment of the present invention.
FIG. 4 is a third state display diagram of an indicator icon and instrument cursor in accordance with an embodiment of the present invention
Fig. 5 is a state diagram of the instrument cursor of fig. 2 corresponding to an operator's hand and corresponding finger grip ring arrangement.
Fig. 6 is a state diagram of the instrument cursor of fig. 3 corresponding to an operator's hand and corresponding finger grip ring arrangement.
Fig. 7 is a state diagram of the instrument cursor of fig. 4 corresponding to an operator's hand and corresponding finger grip ring arrangement.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1, a method for acquiring the pitch information of the master hand includes the following steps:
1) and simultaneously acquiring three-dimensional models of the left and right master hands, and acquiring three-dimensional data of starting points of the left and right finger ring handles. In this step, OpenGL may be used to perform one-to-one three-dimensional modeling, and the three-dimensional model is synchronously controlled according to the motion parameters of the actual motor.
2) And reading data of each axis of the master hand, and controlling the rotation of the three-dimensional model by using the data. According to the motion parameters of the actual motor, the rotation data of each axis of the master hand, including the rotation direction and the rotation angle, can be obtained, and the three-dimensional model is synchronously controlled to synchronously rotate.
3) And after synchronous rotation is finished, reading the three-dimensional data of the ring handle terminal point.
4) And calculating the pitch angle beta of the ring handle through three-dimensional data of the starting point and the end point of the ring handle, namely the pitch information of the main hand. Specifically, a first direction vector is solved through the change of three-dimensional coordinate points at two ends of the starting point finger ring handle and the end point finger ring handle, and then the included angle between the first direction vector and the horizontal plane is solved, so that the pitching angle beta of the finger ring handle is obtained.
In this step, the starting point of the ring handle is defined as the end point A, the end point is defined as the front end point B, and the first direction vector v, [ v: Xa-Xb, Ya-Yb, Za-Zb ] is calculated according to the three-dimensional data change of the end point A and the front end point B of the ring handle, and accordingly, the included angle between the first direction vector v, [ v: Xa-Xb, Ya-Yb, Za-Zb ] and the horizontal plane is calculated:
the angle beta formed by the straight line AB and the horizontal plane is solved by the formula:
wherein the content of the first and second substances,
is a normal vector of the plane alpha, which is a horizontal plane in the present application, so
Is (0, 1, 0), the calculated included angle beta is the pitch angle,
the vector is a first direction vector v
5) And acquiring left and right hand distribution information of the surgical instrument, generating an indication icon with the left and right information, and displaying the indication icon and the instrument icon in a combined manner. In the present embodiment, as shown in fig. 2 to 4, the indication icon is a circular icon with L or R.
It is known in the art that the instrument can be controlled by either the left or right master hand, with the master hand controlling the dispensing by the surgeon via a software program on the console arm during each procedure. In the present invention, the corresponding control result is sent to the master-slave control server through the command protocol, and the data record allocated each time is recorded, and when it is necessary to determine which master hand controls the instrument, the data record is displayed according to the result allocated each time.
6) According to the tilt angle, as shown in fig. 2 to 4, an indication icon is displayed at a corresponding position of the instrument cursor and finally displayed in the stereoscopic viewfinder. Wherein fig. 5-7 are state views of the operator's hand and corresponding finger grip ring arrangement of fig. 2-4, respectively.
Indicating an icon display position to acquire by:
61) determining a display radian gamma, beta PI/180.0, wherein PI PI is PI;
62) finding a second direction vector V1[x,y]In which V is1x＝cosγ，V1y＝sinγ；
63) Determining the offset position V2(x,y),V2(x,y)＝V1[x,y]L, l is a set distance value, and is set according to the display distance of the actual requirement, such as 1mm and 3mm, and the diameter value of the set indication icon can also be taken;
64) indicating icon display position P (x, y) ═ P1(x,y)+V2(x, y) wherein P1(x, y) are screen coordinates of the center of the numeric numbered icon.
P (x, y) is a screen coordinate point indicating an icon.
The numerical icon is an icon formed by displaying the number of the robot arm, and in the present embodiment, as shown in fig. 2 to 4, the numerical icon is displayed by an arabic numeral as it is.
In this embodiment, for convenient display, the coordinate point of the central screen of the numeric numbered icon is used as a dot, and a standard circle is set to be displayed in the stereoscopic viewfinder, the standard circle is mainly used for convenient observation, and the radius of the standard circle can be set to l/2, etc.
Thus, when the manipulator is the left dominant hand with the left hand as shown in FIG. 5, with the hand at the top left of the ring handle, L is displayed in the indicator icon and L is at the top left of the center of the standard circle, as shown in FIG. 2. On the contrary, when the operator operates with the right hand as shown in fig. 6 and 7, and the hand is below in fig. 6 and the hand is above in fig. 7, the display effect in the stereoscopic viewfinder is: the indication icon indicates the right main hand for operating the instrument as R, the operation state in fig. 6 corresponds to fig. 3, the indication icon is displayed on the lower right side of the numeric icon (with the hand facing upward and the hand facing downward), and the operation state in fig. 7 corresponds to fig. 4, the indication icon is displayed on the upper right side of the numeric icon (with the hand facing downward and the hand facing upward).
According to the invention, the pitching information of the main hand is acquired and finally displayed in the three-dimensional viewfinder, so that an operator can know in what state the current operating hand holds the main hand tool without action by directly watching the three-dimensional viewfinder, and the operation efficiency, the operation accuracy and the operation safety are improved.
And (5) circularly reciprocating the steps 1) to 6) so as to continuously and synchronously display the real-time information of the pitching angle.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (7)
1. A method for acquiring the pitching information of a master hand is characterized by comprising the following steps:
1) acquiring a three-dimensional model of a master hand, and acquiring three-dimensional data of a ring handle starting point;
2) reading data of each axis of a master hand, and controlling the rotation of the three-dimensional model by using the data;
3) after synchronous rotation is finished, reading three-dimensional data of the ring handle terminal point;
4) and calculating the pitch angle beta of the ring handle through three-dimensional data of the starting point and the end point of the ring handle, namely the pitch information of the main hand.
2. The method for acquiring the pitch information of the master hand according to claim 1, further comprising the step 5): and acquiring left and right hand distribution information of the surgical instrument, generating an indication icon with the left and right information, and displaying the indication icon and the instrument icon in a combined manner.
3. The method for acquiring the master hand pitch information according to claim 1, further comprising the step 6): and displaying the indication icon at the corresponding position of the instrument icon according to the pitch angle beta, and finally displaying the indication icon in the stereoscopic viewfinder.
4. The method for acquiring the master hand pitch information according to claim 1, wherein: in the step 4), the first direction vector is solved through the change of three-dimensional coordinate points at the two ends of the finger ring handle at the starting point and the ending point of the finger ring handle, and then the included angle between the first direction vector and the horizontal plane is solved, so that the pitch angle beta of the finger ring handle is obtained.
5. A method of obtaining pitch information as claimed in claim 3, wherein: indicating an icon display position to acquire by:
61) determining a display radian gamma, beta PI/180.0, wherein PI PI is PI;
62) finding a second direction vector V1[x,y]In which V is1x＝cosγ，V1y＝sinγ；
63) Determining the offset position V2(x,y),V2(x,y)＝V1[x,y]L, l is a set distance value;
64) indicating icon display position P (x, y) ═ P1(x,y)+V2(x, y) wherein P1(x, y) are screen coordinates of the center of the numeric numbered icon;
p (x, y) is a screen coordinate point indicating an icon.
6. The method for acquiring the pitching information of the main hand according to claim 1, wherein in the step 4), the first direction vector is obtained by the change of the three-dimensional coordinate points at the two ends of the starting point and the ending point of the ring handle, and then the included angle between the first direction vector and the horizontal plane is obtained to obtain the pitching angle of the ring handle.
7. The method for acquiring the pitching information of the main hand according to claim 1, wherein in the step 2), the reading of the data of the axes of the main hand means reading the rotation data of each axis, including the rotation direction and the rotation angle.
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| CN202111406769.XA CN114098993B (en) | 2021-11-24 | 2021-11-24 | Main hand pitching information acquisition method |
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| CN202111406769.XA CN114098993B (en) | 2021-11-24 | 2021-11-24 | Main hand pitching information acquisition method |
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| CN211884027U (en) * | 2020-01-10 | 2020-11-10 | 重庆金山医疗机器人有限公司 | Surgical robot master hand |
| CN112603557A (en) * | 2020-12-25 | 2021-04-06 | 重庆金山医疗机器人有限公司 | Viewfinder optical base and viewfinder |
| CN112716617A (en) * | 2020-12-25 | 2021-04-30 | 重庆金山医疗机器人有限公司 | Hinge structure, viewfinder and hinge mechanism reference adjustment method |
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2021
- 2021-11-24 CN CN202111406769.XA patent/CN114098993B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5053975A (en) * | 1988-06-10 | 1991-10-01 | Hitachi, Ltd. | Master-slave manipulator control |
| JPH0446778A (en) * | 1990-06-14 | 1992-02-17 | Agency Of Ind Science & Technol | Control method for multifinger manipulator |
| JPH0857778A (en) * | 1994-08-18 | 1996-03-05 | Meidensha Corp | Manipulator restriction control method |
| US20040243147A1 (en) * | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
| US20070156017A1 (en) * | 2005-12-30 | 2007-07-05 | Intuitive Surgical Inc. | Stereo telestration for robotic surgery |
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| US20140276940A1 (en) * | 2013-03-13 | 2014-09-18 | Samsung Electronics Co., Ltd. | Surgical robot and method of controlling the same |
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| CN112716617A (en) * | 2020-12-25 | 2021-04-30 | 重庆金山医疗机器人有限公司 | Hinge structure, viewfinder and hinge mechanism reference adjustment method |
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